Ampoule handling robot

Abstract

The application belongs to the technical field of mechanical grippers, and discloses an ampoule processing mechanical gripper, which comprises a shell, a cylinder is fixedly connected inside the shell, and a rotating assembly is arranged inside the shell. Through cooperation between the first moving assembly, the vibration assembly and the ball, the scattered ampoules are arranged in a row, and the working efficiency is improved. Through cooperation between the first toothed plate and the second toothed plate and the rotating assembly, the first moving assembly is driven to move. Through movement of the first moving assembly, the ball is driven to contact the scattered ampoules. Then, through cooperation between the first inclined block and the second inclined blocks, the ball is rolled at the bottle body of the ampoule, and the ampoule is driven to move in the predetermined direction. Finally, the scattered ampoules are arranged in a row, the subsequent clamping operation is facilitated, and the working efficiency is improved.

Description

[0001] The present application is a divisional application of the application with application number 202411247713.8, filed on September 6, 2023, and entitled "Mechanical gripper for ampoule processing". TECHNICAL FIELD

[0002] The present application belongs to the technical field of mechanical grippers, and specifically relates to an ampoule processing mechanical gripper. BACKGROUND

[0003] An ampoule is a sealed container used to store and protect liquid medicines, usually made of glass or plastic. Its design features prevent external contamination and air from entering, thereby maintaining the stability and effectiveness of the internal medicine.

[0004] The existing ampoule processing mechanical gripper can only clamp single or multiple aligned ampoules during use. However, before the medicine is filled, the ampoules may be scattered on the operation table. If a mechanical gripper is used to grab them individually, it will take a lot of time and effort, thereby reducing the overall operation speed and efficiency. If multiple ampoules are grabbed directly, the spacing between them may be different, making it difficult to cut in and find the accurate clamping position, thereby reducing work efficiency. Therefore, an ampoule processing mechanical gripper is proposed to solve the problems mentioned above. SUMMARY

[0005] To solve the problems mentioned in the background, the present application provides an ampoule processing mechanical gripper, which has the advantages of conveniently arranging scattered ampoules into a row, thereby facilitating clamping and improving work efficiency.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical scheme: an ampoule processing mechanical gripper, comprising a housing, a gas cylinder fixedly connected inside the housing, a rotating assembly provided inside the housing, a first toothed plate and a second toothed plate movably connected inside the housing, a first moving assembly fixedly connected to the opposite end of the first toothed plate and the second toothed plate, a vibration assembly, a third moving assembly, and a clamping assembly movably connected inside the first moving assembly;

[0007] The vibration assembly includes a limiting plate, and the top end of the limiting plate is fixedly connected with a first inclined block;

[0008] The opposite sides of the two limiting plates are fixedly connected with limiting rods, and the ends of the limiting rods away from the limiting plates are fixedly connected with support plates. The inside of the support plate is movably connected with a plurality of ball bearings. A set of second inclined blocks is mirror-imaged inside the housing. A second moving assembly and a vacuum suction assembly are provided inside the housing;

[0009] The rotating assembly comprises a cylindrical cam, the inside of which is provided with a slanting groove and a vertical groove at every 180 degrees, and the outer surface of which is fixedly connected with a gear;

[0010] The second moving assembly comprises a limiting block, the top of which is movably connected with a round block, and the outer wall of the round block is provided with a second protruding block at every 180 degrees.

[0011] Preferably, the arc of the slanting groove is 180 degrees, the bottom of the slanting groove is in communication with the top end of the vertical groove, the bottom of the air cylinder is fixedly connected with a moving rod inside the cylindrical cam, the outer wall of the moving rod is provided with a first protruding block at every 180 degrees, and the first protruding block is movably clamped inside the slanting groove in the initial state.

[0012] Preferably, the two sides of the gear are respectively engaged with a first toothed plate and a second toothed plate, the first moving assembly comprises an outer box, the top end of the outer box is fixedly connected with two first round rods, the first toothed plate and the second toothed plate move to drive the two outer boxes to move towards each other through the first round rods, and the outer wall of the outer box is provided with a straight slot opening matched with a limiting rod.

[0013] Preferably, the bottom end of the limiting block penetrates through the outer wall of the shell, the outer surface of the limiting block is movably sleeved with a first spring, the two ends of the first spring are respectively fixedly connected with the limiting block and the shell, the second protruding block is movably clamped inside the vertical groove, and the vacuum suction assembly comprises a vacuum chuck, a vacuum pump and a vacuum pipe, and the bottom end of the limiting block is movably clamped with the vacuum chuck.

[0014] Preferably, the surface of the limiting plate is provided with a square groove, the first inclined block is located inside the shell, one end of the first inclined block close to the second inclined block is in the form of an inclined surface, the limiting plate is fixedly connected with an elastic sheet on one side, and the limiting plate is elastically connected with the first moving assembly through the elastic sheet.

[0015] Preferably, the limiting rod penetrates through the outer wall of the first moving assembly and extends to the outside of the first moving assembly, and the number of the second inclined blocks in one group is five, and the two ends of the second inclined blocks are in the form of inclined surfaces.

[0016] Preferably, the third moving assembly comprises a third inclined block, the opposite ends of the two third inclined blocks are in the form of inclined surfaces, the third inclined block penetrates through the outer wall of the first moving assembly and extends to the outside of the first moving assembly, and the third inclined block is located inside the square groove of the limiting plate.

[0017] Preferably, the two opposite ends of the third inclined block are hingedly connected with a first connecting rod, the bottom end of the first connecting rod is hingedly connected with a second connecting rod, the bottom end of the second connecting rod is fixedly connected with a fourth inclined block, and the bottom of the fourth inclined block is inclined.

[0018] Preferably, the clamping assembly comprises a fifth inclined block, one side of the fifth inclined block close to the fourth inclined block is inclined, the inclined surface of the fifth inclined block and the inclined surface of the fourth inclined block are in abutment with each other, and the two ends of the side of the fifth inclined block away from the fourth inclined block are fixedly connected with second round rods.

[0019] Preferably, the outer surface of the second round rod is sleeved with a second spring, the two ends of the second spring are fixedly connected with the fifth inclined block and the first moving assembly respectively, the end of the second round rod away from the fifth inclined block is fixedly connected with a clamping plate, the opposite sides of the two clamping plates are fixedly connected with gaskets, and the gaskets are made of rubber material.

[0020] Compared with the prior art, the present application has the following advantages:

[0021] The first moving assembly, the vibration assembly and the ball are cooperated, so that the scattered ampoules are arranged in a row, and then clamped, the work efficiency is improved, the first toothed plate and the second toothed plate are moved towards each other under the cooperation of the rotating assembly, so as to drive the first moving assembly to move, the ball is contacted with the scattered ampoules under the movement of the first moving assembly, then the first inclined block and the plurality of second inclined blocks are cooperated, so that the support plate drives the ball to vibrate under the action of an external force, then the ball rolls at the bottle body of the ampoule, and the ampoule is pushed to move in a predetermined direction, finally the scattered ampoules are arranged in a row, so that the subsequent clamping operation is facilitated, and the work efficiency is improved.

[0022] The rotating assembly, the second moving assembly and the vacuum suction assembly are cooperated, so that the ampoules are fixed, the moving rod extrudes the circular block to move downward, so that the circular block drives the limiting block and the vacuum suction cup at the bottom to move downward, when the vacuum suction cup abuts against the bottle mouth of the ampoule, the vacuum pump in the vacuum suction assembly sucks out the air in the vacuum suction cup through the vacuum pipe, so that the plurality of ampoules are adsorbed at the bottom of the vacuum suction cup, and the function of fixing the ampoules is achieved.

[0023] The application improves the fixing effect of the ampoule through the cooperation between the third moving assembly and the clamping assembly, prevents the shaking or sliding of the ampoule during the movement, and moves the fourth inclined block under the action of external force, extrudes the two fifth inclined blocks to move towards each other, drives the two clamping plates to move through the second circular rod, sets the gasket, makes the gasket abut against the outer wall of the ampoule, causes the friction of the outer wall, generates resistance, and further makes the fixing effect of the ampoule during the clamping process better, thereby reducing the sliding or shaking of the ampoule during the movement of the mechanical gripper. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the application;

[0025] Figure 2 It is a schematic diagram of the overall structure of the application;

[0026] Figure 3 It is a schematic diagram of the position relationship of the rotating assembly, the first tooth plate, the second tooth plate and the first moving assembly of the application;

[0027] Figure 4 It is Figure 2 the enlarged view of A in the figure;

[0028] Figure 5 It is Figure 2 the enlarged view of B in the figure;

[0029] Figure 6 It is a schematic diagram of the local side section structure of the rotating assembly of the application;

[0030] Figure 7 It is a schematic diagram of the side section structure of the application;

[0031] Figure 8 It is Figure 7 the enlarged view of C in the figure;

[0032] Figure 9 It is a schematic diagram of the top section structure of the application;

[0033] Figure 10 It is Figure 9 the enlarged view of D in the figure;

[0034] Figure 11 It is an explosion view of the first moving assembly of the application.

[0035] In the figure: 1, housing; 2, cylinder; 3, rotating assembly; 301, cylindrical cam; 302, inclined groove; 303, vertical groove; 304, gear; 305, moving rod; 306, first protrusion; 4, first tooth plate; 5, second tooth plate; 6, first moving assembly; 601, outer box; 602, first round rod; 603, straight notch; 7, vibration assembly; 701, limit plate; 702, first inclined block; 703, spring; 8, limit rod; 9, support plate; 10, ball bearing; 11 , second oblique block; 12, second moving assembly; 1201, limit block; 1202, round block; 1203, second protrusion; 1204, first spring; 13, vacuum adsorption assembly; 14, third moving assembly; 1401, third oblique block; 1402, first connecting rod; 1403, second connecting rod; 1404, fourth oblique block; 15, clamping assembly; 1501, fifth oblique block; 1502, second round rod; 1503, clamping plate; 1504, gasket; 1505, second spring. DETAILED DESCRIPTION

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0037] like Figures 1 to 11 As shown, the present invention provides an ampoule bottle processing robot, including a shell 1, a cylinder 2 is fixedly connected to the interior of the shell 1, a rotating assembly 3 is provided inside the shell 1, a first tooth plate 4 and a second tooth plate 5 are movably connected to the interior of the shell 1, the first tooth plate 4 and the second tooth plate 5 are fixedly connected to the first moving assembly 6 at opposite ends, and a vibration assembly 7, a third moving assembly 14 and a clamping assembly 15 are movably connected to the interior of the first moving assembly 6;

[0038] The vibration assembly 7 includes a limit plate 701, and a first inclined block 702 is fixedly connected to the top of the limit plate 701;

[0039] The two limiting plates 701 are fixedly connected to a limiting rod 8 on opposite sides. The end of the limiting rod 8 away from the limiting plate 701 is fixedly connected to a support plate 9. A plurality of balls 10 are movably connected inside the support plate 9. A set of second inclined blocks 11 are provided inside the housing 1 in a mirror-like manner. A second moving assembly 12 and a vacuum adsorption assembly 13 are provided inside the housing 1.

[0040] The rotating assembly 3 comprises a cylindrical cam 301, the inside of the cylindrical cam 301 is provided with an inclined groove 302 and a vertical groove 303 at every 180 degrees, and the outer surface of the cylindrical cam 301 is fixedly connected with a gear 304.

[0041] The second moving assembly 12 comprises a limiting block 1201, the top of the limiting block 1201 is movably connected with a circular block 1202, and the outer wall of the circular block 1202 is provided with a second protruding block 1203 at every 180 degrees.

[0042] By the above scheme: through the cooperation of the first toothed plate 4 and the second toothed plate 5 with the rotating assembly 3, the first toothed plate 4 and the second toothed plate 5 move towards each other, thereby driving the first moving assembly 6 to move, through the movement of the first moving assembly 6, the ball 10 is brought into contact with the scattered ampoules, then through the cooperation between the first inclined block 702 and the plurality of second inclined blocks 11, the support plate 9 drives the ball 10 to vibrate under the action of an external force, thereby making the ball 10 roll at the bottle body of the ampoule and pushing the ampoule to move in a predetermined direction, and finally pushing the scattered ampoules to form a row, thereby facilitating subsequent clamping operation and improving work efficiency.

[0043] As shown in Figures 1 to 3 , Figures 6 to 8 , the arc of the inclined groove 302 is 180 degrees, the bottom of the inclined groove 302 is in communication with the top end of the vertical groove 303, the bottom of the air cylinder 2 is fixedly connected with a moving rod 305 located in the inside of the cylindrical cam 301, the outer wall of the moving rod 305 is provided with a first protruding block 306 at every 180 degrees, the first protruding block 306 is movably connected in the inside of the inclined groove 302 in the initial state, the two sides of the gear 304 are respectively engaged with the first toothed plate 4 and the second toothed plate 5, and the first moving assembly 6 comprises an outer box 601, the top of the outer box 601 is fixedly connected with two first circular rods 602, the first toothed plate 4 and the second toothed plate 5 move to drive the two outer boxes 601 to move towards each other through the first circular rods 602, and the outer wall of the outer box 601 is provided with a straight slot 603 matched with the limiting rod 8.

[0044] By the above scheme: through the design of the straight slot 603, when the limiting rod 8 drives the support plate 9 to move towards the shell fragment 703, the design of the straight slot 603 can limit the moving distance of the limiting rod 8, thereby controlling the vibration amplitude of the support plate 9 and the ball 10, and preventing the support plate 9 from vibrating excessively and causing unnecessary damage to the ampoules.

[0045] As shown in Figures 6 to 8As shown, the bottom end of the limiting block 1201 penetrates the outer wall of the shell 1, the outer surface of the limiting block 1201 movably sleeved with the first spring 1204, the two ends of the first spring 1204 are fixedly connected with the limiting block 1201 and the shell 1 respectively, the second protruding block 1203 movably clamped in the inside of the vertical groove 303, the vacuum suction assembly 13 comprising a vacuum chuck, a vacuum pump and a vacuum pipe, the bottom end of the limiting block 1201 movably clamped with the vacuum chuck.

[0046] By adopting the above scheme: through the design of the vacuum suction assembly 13, when the vacuum pump is started, the vacuum pipe will continuously extract the air in the vacuum chuck, so that the air pressure in the vacuum chuck is rapidly reduced, thereby forming a low-pressure environment close to vacuum, at the same time, the atmospheric pressure outside the ampoule bottle remains unchanged, because the air pressure in the vacuum chuck is much lower than the atmospheric pressure outside, therefore, a significant pressure difference is generated, then, under the action of the pressure difference, the atmospheric pressure outside will tightly press the ampoule bottle to the surface of the vacuum chuck, thereby forming firm suction, when the ampoule bottle is transported to the predetermined location, at this time, the vacuum pump sends air into the vacuum chuck, thereby increasing the air pressure in the vacuum chuck, making the pressure difference disappear, and then making the bottle opening of the ampoule bottle be released from the suction of the bottom of the vacuum chuck, all of the above belong to the prior art.

[0047] As shown in Figures 3 to 4 , Figures 9 to 11 , the surface of the limiting plate 701 is provided with a square groove, the first inclined block 702 is located in the inside of the shell 1, one end of the first inclined block 702 close to the second inclined block 11 is in a beveled shape, the limiting plate 701 is fixedly connected with the elastic sheet 703 on one side, the limiting plate 701 is elastically connected with the first moving assembly 6 through the elastic sheet 703, the limiting rod 8 penetrates the outer wall of the first moving assembly 6 and extends to the outside of the first moving assembly 6, the number of the group of second inclined blocks 11 is five, the two ends of the second inclined block 11 are in a beveled shape, after the two first moving assemblies 6 move towards each other, the beveled surface of the first inclined block 702 and the beveled surface of one end of the second inclined block 11 abut each other.

[0048] By adopting the above scheme: through the two ends of the second inclined block 11 being in a beveled shape, when the first inclined block 702 needs to be reset after completing the operation, the first inclined block 702 moves reversely, then, the plane of the first inclined block 702 abuts with the beveled surface of the other side of the second inclined block 11, thereby making the first inclined block 702 be squeezed and moving towards the elastic sheet 703, thereby preventing the first inclined block 702 from being stuck when resetting, thereby ensuring the normal operation of the device.

[0049] As shown in Figures 2 to 4 , Figure 11As shown in the figure, the third moving assembly 14 comprises two third inclined blocks 1401, the opposite ends of the two third inclined blocks 1401 are beveled, the third inclined blocks 1401 penetrate through the outer wall of the first moving assembly 6 and extend to the outside of the first moving assembly 6, the third inclined blocks 1401 are located inside the square groove of the limiting plate 701, the opposite ends of the two third inclined blocks 1401 are hingedly connected with first connecting rods 1402, the bottom end of each first connecting rod 1402 is hingedly connected with a second connecting rod 1403, the bottom end of the second connecting rod 1403 is fixedly connected with a fourth inclined block 1404, and the bottom of the fourth inclined block 1404 is beveled.

[0050] The above scheme has the advantages that: under the action of an external force, the fourth inclined block 1404 moves downward and presses the two fifth inclined blocks 1501 to move towards each other, so that the two clamping plates 1503 are driven to move by the second circular rod 1502, and the gaskets 1504 are abutted against the outer wall of the ampoule and cause friction to the outer wall, so that resistance is generated, and the fixing effect of the ampoule during clamping is better, thereby reducing the possibility of sliding or shaking of the ampoule during movement of the mechanical gripper.

[0051] As shown in the figure, Figures 2 to 4 , Figure 11 The clamping assembly 15 comprises fifth inclined blocks 1501, the side of the fifth inclined block 1501 close to the fourth inclined block 1404 is beveled, the beveled surface of the fifth inclined block 1501 abuts against the beveled surface of the fourth inclined block 1404, the two ends of the side of the fifth inclined block 1501 away from the fourth inclined block 1404 are fixedly connected with second circular rods 1502, the second circular rods 1502 penetrate through the outer wall of the first moving assembly 6 and extend to the outside of the first moving assembly 6, the outer surface of the second circular rod 1502 is sleeved with a second spring 1505, the two ends of the second spring 1505 are fixedly connected with the fifth inclined block 1501 and the first moving assembly 6, the end of the second circular rod 1502 away from the fifth inclined block 1501 is fixedly connected with clamping plates 1503, the opposite sides of the two clamping plates 1503 are fixedly connected with gaskets 1504, and the gaskets 1504 are made of rubber material.

[0052] The above scheme has the advantages that: through the design of the second spring 1505, when the clamping operation is completed, the vacuum suction assembly 13 is disengaged from the abutment against the third inclined block 1401, at this time, the fifth inclined block 1501 is reset under the action of the elastic force of the second spring 1505, so that the fourth inclined block 1404 is moved upward, and the third inclined block 1401 is reset through the second connecting rod 1403 and the first connecting rod 1402, thereby facilitating the next use of the operator, and the gaskets 1504 are made of rubber material, which has the effect that, since rubber has good elasticity and friction coefficient, the rubber material can provide sufficient friction, so that the ampoule is not easy to slip during clamping by the gaskets 1504, thereby enhancing the stability of clamping.

[0053] The working principle and use process of the present application: by starting the cylinder 2, thereby driving the moving rod 305 to descend, and making the first protrusion 306 outside it slide along the track of the chute 302, and then through the cooperation of the first protrusion 306 and the chute 302, making the cylindrical cam 301 and the gear 304 outside it rotate, while the gear 304 rotates, driving the first toothed plate 4 and the second toothed plate 5 to move towards each other, thereby driving the two first moving assemblies 6 to move towards each other through the two, while the first moving assembly 6 moves, driving the vibration assembly 7 inside it to move in the same direction, thereby making the first inclined block 702 and the inclined surface of the second inclined block 11 abut, and through the second inclined block 11, extruding the first inclined block 702 to move in the direction of the elastic sheet 703;

[0054] While the first inclined block 702 moves, it drives the limiting plate 701 to move in the same direction, and then the limiting plate 701 drives the support plate 9 and the ball 10 inside it to move through the limiting rod 8, while the support plate 9 moves, it drives the ball 10 to contact the scattered ampoules, when the first inclined block 702 is disengaged from the second inclined block 11, at this time the limiting plate 701 drives the first inclined block 702 to reset under the action of the elastic force of the elastic sheet 703, while the first inclined block 702 resets, it drives the ball 10 to roll at the bottle body of the ampoule, and pushes the ampoule to move in the predetermined direction, then the first inclined block 702 abuts against another second inclined block 11, and the operation is repeated until the scattered ampoules are arranged in a row under the action of the pushing force of the two support plates 9 and the friction force of the balls 10;

[0055] When the several ampoules are arranged in a row, at this time the first protrusion 306 slides to the inside of the vertical groove 303, at the same time, the bottom end of the moving rod 305 abuts against the round block 1202 and extrudes the round block 1202 and the limiting block 1201 to move downward, while the limiting block 1201 moves downward, it drives the vacuum suction disc inside the vacuum suction assembly 13 to move downward, thereby abutting against the inclined surface of the two third inclined blocks 1401, and extruding the two third inclined blocks 1401 to move in opposite directions, while the third inclined block 1401 moves, it drives the second connecting rod 1403 and the fourth inclined block 1404 at the bottom of the second connecting rod 1403 to move downward through the first connecting rod 1402, thereby making the fourth inclined block 1404 abut against the fifth inclined block 1501, and extruding the fifth inclined block 1501 to move in the direction of the clamping plate 1503, and then driving the two clamping plates 1503 to move towards each other through the second round rod 1502, when the vacuum suction assembly 13 abuts against the bottle mouth at the top end of the ampoule, at this time the vacuum pump sucks out the air inside the vacuum suction disc through the vacuum pipe, when the negative pressure inside the vacuum suction disc reaches a predetermined degree, at this time the bottle mouth of the ampoule is adsorbed at the bottom of the suction disc, thereby fixing the bottle mouths of the several ampoules;

[0056] When the bottle mouth of the ampoule is adsorbed at the bottom of the vacuum chuck, at this time, the two gaskets 1504 are driven by the clamping plate 1503 to abut against the bottom of the outer wall of the ampoule, and cause friction to the bottle body of the ampoule, thereby generating resistance, and further fixing the position of the ampoule, so that the fixing effect of the ampoule during clamping is better, and the phenomenon of shaking or sliding of the ampoule during movement is prevented.

[0057] It should be noted that the relational terms herein such as first and second and the like are used solely to distinguish one entity or action from another, without necessarily requiring or implying any such actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0058] Although embodiments of the present application have been shown and described, it is to be understood that various modifications, substitutions, alternatives, and variations can be made in the embodiments without departing from the spirit and scope of the present application as defined by the appended claims and their equivalents.

Claims

1. An ampoule handling robot comprising a housing (1), characterized in that: The inside of the shell (1) is fixedly connected with a cylinder (2), the inside of the shell (1) is provided with a rotating assembly (3), the inside of the shell (1) is movably connected with a first toothed plate (4) and a second toothed plate (5), the opposite end of the first toothed plate (4) and the second toothed plate (5) is fixedly connected with a first moving assembly (6), the inside of the first moving assembly (6) is movably connected with a vibrating assembly (7), a third moving assembly (14) and a clamping assembly (15); Wherein, the vibrating assembly (7) contains a limiting plate (701), the top of the limiting plate (701) is fixedly connected with a first inclined block (702); The opposite side of the two limiting plates (701) is fixedly connected with a limiting rod (8), the end of the limiting rod (8) away from the limiting plate (701) is fixedly connected with a supporting plate (9), the inside of the supporting plate (9) is movably connected with a plurality of ball bearings (10), the inside of the shell (1) is mirror image provided with a group of second inclined blocks (11), the inside of the shell (1) is provided with a second moving assembly (12) and a vacuum adsorption assembly (13); The rotating assembly (3) contains a cylindrical cam (301), the inside of the cylindrical cam (301) is annularly provided with an inclined groove (302) and a vertical groove (303) at one hundred and eighty degrees, the outer surface of the cylindrical cam (301) is fixedly connected with a gear (304); The second moving assembly (12) contains a limiting block (1201), the top of the limiting block (1201) is movably connected with a circular block (1202), the outer wall of the circular block (1202) is annularly provided with a second protruding block (1203) at one hundred and eighty degrees; The third moving assembly (14) contains a third inclined block (1401), the opposite end of the two third inclined blocks (1401) is beveled, the third inclined block (1401) penetrates through the outer wall of the first moving assembly (6) and extends to the outside of the first moving assembly (6), the third inclined block (1401) is located in the square groove of the limiting plate (701); The opposite end of the two third inclined blocks (1401) is hingedly connected with a first connecting rod (1402), the bottom end of the first connecting rod (1402) is hingedly connected with a second connecting rod (1403), the bottom end of the second connecting rod (1403) is fixedly connected with a fourth inclined block (1404), the bottom of the fourth inclined block (1404) is beveled.

2. The ampoule handling robot according to claim 1, characterized in that: The radian of the inclined groove (302) is one hundred and eighty degrees, the bottom of the inclined groove (302) is in communication with the top end of the vertical groove (303), the bottom of the cylinder (2) is fixedly connected with a moving rod (305) located in the inside of the cylindrical cam (301), the outer wall of the moving rod (305) is annularly provided with a first protruding block (306) at one hundred and eighty degrees, the first protruding block (306) is movably clamped in the inside of the inclined groove (302) in the initial state.

3. The ampoule handling robot according to claim 1, characterized in that: Two sides of the gear (304) are engaged with the first toothed plate (4) and the second toothed plate (5) respectively, the first moving assembly (6) comprises an outer box (601), the top end of the outer box (601) is fixedly connected with two first circular rods (602), the first toothed plate (4) and the second toothed plate (5) are moved to drive the two outer boxes (601) to move towards each other through the first circular rods (602), and the outer wall of the outer box (601) is provided with a straight slot (603) matched with the limiting rod (8).

4. The ampoule handling robot according to claim 1, characterized in that: The bottom end of the limiting block (1201) penetrates the outer wall of the shell (1), the outer surface of the limiting block (1201) movably sleeves the first spring (1204), the two ends of the first spring (1204) are fixedly connected with the limiting block (1201) and the shell (1) respectively, the second protruding block (1203) is movably clamped in the vertical groove (303), and the vacuum adsorption assembly (13) comprises a vacuum chuck, a vacuum pump and a vacuum pipe.

5. The ampoule handling robot of claim 1, wherein: The surface of the limiting plate (701) is provided with a square groove, the first inclined block (702) is located in the shell (1), one end of the first inclined block (702) close to the second inclined block (11) is in an inclined surface shape, the limiting plate (701) is fixedly connected with the elastic sheet (703) on one side, and the limiting plate (701) is elastically connected with the first moving assembly (6) through the elastic sheet (703).

6. The ampoule handling robot of claim 1, wherein: The limiting rod (8) penetrates the outer wall of the first moving assembly (6) and extends to the outside of the first moving assembly (6), the number of one group of the second inclined blocks (11) is five, and the two ends of the second inclined block (11) are in inclined surface shapes.

7. The ampoule handling robot of claim 1 wherein: The clamping assembly (15) comprises a fifth inclined block (1501), one side of the fifth inclined block (1501) away from the fourth inclined block (1404) is in an inclined surface shape, the inclined surface of the fifth inclined block (1501) and the inclined surface of the fourth inclined block (1404) are in abutment with each other, and the two ends of the side of the fifth inclined block (1501) away from the fourth inclined block (1404) are fixedly connected with second circular rods (1502).

8. The ampoule handling robot according to claim 7, characterized in that: The outer surface of the second circular rod (1502) sleeves a second spring (1505), the two ends of the second spring (1505) are fixedly connected with the fifth inclined block (1501) and the first moving assembly (6) respectively, one end of the second circular rod (1502) away from the fifth inclined block (1501) is fixedly connected with a clamping plate (1503), and the opposite sides of the two clamping plates (1503) are fixedly connected with gaskets (1504). The gaskets (1504) are made of rubber material.

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